/*
************************************************************************************************************************
*                                                      uC/OS-III
*                                                 The Real-Time Kernel
*
*                                  (c) Copyright 2009-2012; Micrium, Inc.; Weston, FL
*                           All rights reserved.  Protected by international copyright laws.
*
*                                                   TIMER MANAGEMENT
*
* File    : OS_TMR.C
* By      : JJL
* Version : V3.03.01
*
* LICENSING TERMS:
* ---------------
*           uC/OS-III is provided in source form for FREE short-term evaluation, for educational use or
*           for peaceful research.  If you plan or intend to use uC/OS-III in a commercial application/
*           product then, you need to contact Micrium to properly license uC/OS-III for its use in your
*           application/product.   We provide ALL the source code for your convenience and to help you
*           experience uC/OS-III.  The fact that the source is provided does NOT mean that you can use
*           it commercially without paying a licensing fee.
*
*           Knowledge of the source code may NOT be used to develop a similar product.
*
*           Please help us continue to provide the embedded community with the finest software available.
*           Your honesty is greatly appreciated.
*
*           You can contact us at www.micrium.com, or by phone at +1 (954) 217-2036.
************************************************************************************************************************
*/

#define  MICRIUM_SOURCE
#include <os.h>

#ifdef VSC_INCLUDE_SOURCE_FILE_NAMES
const  CPU_CHAR  *os_tmr__c = "$Id: $";
#endif


#if OS_CFG_TMR_EN > 0u
/*
************************************************************************************************************************
*                                                     CONSTANTS
************************************************************************************************************************
*/

#define  OS_OPT_LINK_DLY       (OS_OPT)(0u)
#define  OS_OPT_LINK_PERIODIC  (OS_OPT)(1u)

/*$PAGE*/
/*
************************************************************************************************************************
*                                                   CREATE A TIMER
*
* Description: This function is called by your application code to create a timer.
*
* Arguments  : p_tmr           Is a pointer to a timer control block
*
*              p_name          Is a pointer to an ASCII string that is used to name the timer.  Names are useful for
*                              debugging.
*
*              dly             Initial delay.
*                              If the timer is configured for ONE-SHOT mode, this is the timeout used
*                              If the timer is configured for PERIODIC mode, this is the first timeout to wait for
*                              before the timer starts entering periodic mode
*
*              period          The 'period' being repeated for the timer.
*                              If you specified 'OS_OPT_TMR_PERIODIC' as an option, when the timer expires, it will
*                              automatically restart with the same period.
*
*              opt             Specifies either:
*
*                                  OS_OPT_TMR_ONE_SHOT       The timer counts down only once
*                                  OS_OPT_TMR_PERIODIC       The timer counts down and then reloads itself
*
*              p_callback      Is a pointer to a callback function that will be called when the timer expires.  The
*                              callback function must be declared as follows:
*
*                                  void  MyCallback (OS_TMR *p_tmr, void *p_arg);
*
*              p_callback_arg  Is an argument (a pointer) that is passed to the callback function when it is called.
*
*              p_err           Is a pointer to an error code.  '*p_err' will contain one of the following:
*
*                                 OS_ERR_NONE
*                                 OS_ERR_ILLEGAL_CREATE_RUN_TIME if you are trying to create the timer after you called
*                                                                  OSSafetyCriticalStart().
*                                 OS_ERR_OBJ_CREATED             if the timer has already been created
*                                 OS_ERR_OBJ_PTR_NULL            is 'p_tmr' is a NULL pointer
*                                 OS_ERR_OBJ_TYPE                if the object type is invalid
*                                 OS_ERR_OPT_INVALID             you specified an invalid option
*                                 OS_ERR_TMR_INVALID_DLY         you specified an invalid delay
*                                 OS_ERR_TMR_INVALID_PERIOD      you specified an invalid period
*                                 OS_ERR_TMR_ISR                 if the call was made from an ISR
*
* Returns    : none
*
* Note(s)    : 1) This function only creates the timer.  In other words, the timer is not started when created.  To
*                 start the timer, call OSTmrStart().
************************************************************************************************************************
*/

void  OSTmrCreate ( OS_TMR               *p_tmr,
                    CPU_CHAR             *p_name,
                    OS_TICK               dly,
                    OS_TICK               period,
                    OS_OPT                opt,
                    OS_TMR_CALLBACK_PTR   p_callback,
                    void                 *p_callback_arg,
                    OS_ERR               *p_err )
{
    CPU_SR_ALLOC();



#ifdef OS_SAFETY_CRITICAL
    if ( p_err == ( OS_ERR * ) 0 )
    {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return;
    }
#endif

#ifdef OS_SAFETY_CRITICAL_IEC61508
    if ( OSSafetyCriticalStartFlag == DEF_TRUE )
    {
        *p_err = OS_ERR_ILLEGAL_CREATE_RUN_TIME;
        return;
    }
#endif

#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
    if ( OSIntNestingCtr > ( OS_NESTING_CTR ) 0 )           /* See if trying to call from an ISR                      */
    {
        *p_err = OS_ERR_TMR_ISR;
        return;
    }
#endif

#if OS_CFG_ARG_CHK_EN > 0u
    if ( p_tmr == ( OS_TMR * ) 0 )                          /* Validate 'p_tmr'                                       */
    {
        *p_err = OS_ERR_OBJ_PTR_NULL;
        return;
    }

    switch ( opt )
    {
    case OS_OPT_TMR_PERIODIC:
        if ( period == ( OS_TICK ) 0 )
        {
            *p_err = OS_ERR_TMR_INVALID_PERIOD;
            return;
        }
        break;

    case OS_OPT_TMR_ONE_SHOT:
        if ( dly == ( OS_TICK ) 0 )
        {
            *p_err = OS_ERR_TMR_INVALID_DLY;
            return;
        }
        break;

    default:
        *p_err = OS_ERR_OPT_INVALID;
        return;
    }
#endif

    OS_CRITICAL_ENTER();
    p_tmr->State          = ( OS_STATE           ) OS_TMR_STATE_STOPPED;   /* Initialize the timer fields             */
    p_tmr->Type           = ( OS_OBJ_TYPE        ) OS_OBJ_TYPE_TMR;
    p_tmr->NamePtr        = ( CPU_CHAR          * ) p_name;
    p_tmr->Dly            = ( OS_TICK            ) dly;
    p_tmr->Match          = ( OS_TICK            ) 0;
    p_tmr->Remain         = ( OS_TICK            ) 0;
    p_tmr->Period         = ( OS_TICK            ) period;
    p_tmr->Opt            = ( OS_OPT             ) opt;
    p_tmr->CallbackPtr    = ( OS_TMR_CALLBACK_PTR ) p_callback;
    p_tmr->CallbackPtrArg = ( void              * ) p_callback_arg;
    p_tmr->NextPtr        = ( OS_TMR            * ) 0;
    p_tmr->PrevPtr        = ( OS_TMR            * ) 0;

#if OS_CFG_DBG_EN > 0u
    OS_TmrDbgListAdd ( p_tmr );
#endif
    OSTmrQty++;                                             /* Keep track of the number of timers created             */

    OS_CRITICAL_EXIT_NO_SCHED();
    *p_err = OS_ERR_NONE;
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                                   DELETE A TIMER
*
* Description: This function is called by your application code to delete a timer.
*
* Arguments  : p_tmr          Is a pointer to the timer to stop and delete.
*
*              p_err          Is a pointer to an error code.  '*p_err' will contain one of the following:
*
*                                 OS_ERR_NONE
*                                 OS_ERR_OBJ_TYPE             'p_tmr' is not pointing to a timer
*                                 OS_ERR_TMR_INVALID          'p_tmr' is a NULL pointer
*                                 OS_ERR_TMR_ISR              if the function was called from an ISR
*                                 OS_ERR_TMR_INACTIVE         if the timer was not created
*                                 OS_ERR_TMR_INVALID_STATE    the timer is in an invalid state
*
* Returns    : DEF_TRUE   if the timer was deleted
*              DEF_FALSE  if not or upon an error
************************************************************************************************************************
*/

#if OS_CFG_TMR_DEL_EN > 0u
CPU_BOOLEAN  OSTmrDel ( OS_TMR  *p_tmr,
                        OS_ERR  *p_err )
{
    OS_ERR       err;
    CPU_BOOLEAN  success;



#ifdef OS_SAFETY_CRITICAL
    if ( p_err == ( OS_ERR * ) 0 )
    {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return ( DEF_FALSE );
    }
#endif

#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
    if ( OSIntNestingCtr > ( OS_NESTING_CTR ) 0 )           /* See if trying to call from an ISR                      */
    {
        *p_err  = OS_ERR_TMR_ISR;
        return ( DEF_FALSE );
    }
#endif

#if OS_CFG_ARG_CHK_EN > 0u
    if ( p_tmr == ( OS_TMR * ) 0 )
    {
        *p_err = OS_ERR_TMR_INVALID;
        return ( DEF_FALSE );
    }
#endif

#if OS_CFG_OBJ_TYPE_CHK_EN > 0u
    if ( p_tmr->Type != OS_OBJ_TYPE_TMR )                   /* Make sure timer was created                            */
    {
        *p_err = OS_ERR_OBJ_TYPE;
        return ( DEF_FALSE );
    }
#endif

    OSSchedLock ( &err );
#if OS_CFG_DBG_EN > 0u
    OS_TmrDbgListRemove ( p_tmr );
#endif
    OSTmrQty--;                                             /* One less timer                                         */

    switch ( p_tmr->State )
    {
    case OS_TMR_STATE_RUNNING:
        OS_TmrUnlink ( p_tmr );                        /* Remove from current wheel spoke                        */
        OS_TmrClr ( p_tmr );
        OSSchedUnlock ( &err );
        *p_err   = OS_ERR_NONE;
        success = DEF_TRUE;
        break;

    case OS_TMR_STATE_STOPPED:                          /* Timer has not started or ...                           */
    case OS_TMR_STATE_COMPLETED:                        /* ... timer has completed the ONE-SHOT time              */
        OS_TmrClr ( p_tmr );                           /* Clear timer fields                                     */
        OSSchedUnlock ( &err );
        *p_err   = OS_ERR_NONE;
        success = DEF_TRUE;
        break;

    case OS_TMR_STATE_UNUSED:                           /* Already deleted                                        */
        OSSchedUnlock ( &err );
        *p_err   = OS_ERR_TMR_INACTIVE;
        success = DEF_FALSE;
        break;

    default:
        OSSchedUnlock ( &err );
        *p_err   = OS_ERR_TMR_INVALID_STATE;
        success = DEF_FALSE;
        break;
    }
    return ( success );
}
#endif

/*$PAGE*/
/*
************************************************************************************************************************
*                                    GET HOW MUCH TIME IS LEFT BEFORE A TIMER EXPIRES
*
* Description: This function is called to get the number of ticks before a timer times out.
*
* Arguments  : p_tmr    Is a pointer to the timer to obtain the remaining time from.
*
*              p_err    Is a pointer to an error code.  '*p_err' will contain one of the following:
*
*                           OS_ERR_NONE
*                           OS_ERR_OBJ_TYPE           'p_tmr' is not pointing to a timer
*                           OS_ERR_TMR_INVALID        'p_tmr' is a NULL pointer
*                           OS_ERR_TMR_ISR            if the call was made from an ISR
*                           OS_ERR_TMR_INACTIVE       'p_tmr' points to a timer that is not active
*                           OS_ERR_TMR_INVALID_STATE  the timer is in an invalid state
*
* Returns    : The time remaining for the timer to expire.  The time represents 'timer' increments.  In other words, if
*              OS_TmrTask() is signaled every 1/10 of a second then the returned value represents the number of 1/10 of
*              a second remaining before the timer expires.
************************************************************************************************************************
*/

OS_TICK  OSTmrRemainGet ( OS_TMR  *p_tmr,
                          OS_ERR  *p_err )
{
    OS_TICK  remain;
    OS_ERR   err;



#ifdef OS_SAFETY_CRITICAL
    if ( p_err == ( OS_ERR * ) 0 )
    {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return ( ( OS_TICK ) 0 );
    }
#endif

#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
    if ( OSIntNestingCtr > ( OS_NESTING_CTR ) 0 )           /* See if trying to call from an ISR                      */
    {
        *p_err = OS_ERR_TMR_ISR;
        return ( ( OS_TICK ) 0 );
    }
#endif

#if OS_CFG_ARG_CHK_EN > 0u
    if ( p_tmr == ( OS_TMR * ) 0 )
    {
        *p_err = OS_ERR_TMR_INVALID;
        return ( ( OS_TICK ) 0 );
    }
#endif

#if OS_CFG_OBJ_TYPE_CHK_EN > 0u
    if ( p_tmr->Type != OS_OBJ_TYPE_TMR )                   /* Make sure timer was created                            */
    {
        *p_err = OS_ERR_OBJ_TYPE;
        return ( ( OS_TICK ) 0 );
    }
#endif

    OSSchedLock ( &err );
    switch ( p_tmr->State )
    {
    case OS_TMR_STATE_RUNNING:
        remain        = p_tmr->Match                   /* Determine how much time is left to timeout             */
                        - OSTmrTickCtr;
        p_tmr->Remain = remain;
        OSSchedUnlock ( &err );
        *p_err         = OS_ERR_NONE;
        break;

    case OS_TMR_STATE_STOPPED:                          /* It's assumed that the timer has not started yet        */
        if ( p_tmr->Opt == OS_OPT_TMR_PERIODIC )
        {
            if ( p_tmr->Dly == 0u )
            {
                remain = p_tmr->Period;
            }
            else
            {
                remain = p_tmr->Dly;
            }
        }
        else
        {
            remain = p_tmr->Dly;
        }
        p_tmr->Remain = remain;
        OSSchedUnlock ( &err );
        *p_err         = OS_ERR_NONE;
        break;

    case OS_TMR_STATE_COMPLETED:                        /* Only ONE-SHOT that timed out can be in this state      */
        OSSchedUnlock ( &err );
        *p_err  = OS_ERR_NONE;
        remain = ( OS_TICK ) 0;
        break;

    case OS_TMR_STATE_UNUSED:
        OSSchedUnlock ( &err );
        *p_err  = OS_ERR_TMR_INACTIVE;
        remain = ( OS_TICK ) 0;
        break;

    default:
        OSSchedUnlock ( &err );
        *p_err = OS_ERR_TMR_INVALID_STATE;
        remain = ( OS_TICK ) 0;
        break;
    }
    return ( remain );
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                                   START A TIMER
*
* Description: This function is called by your application code to start a timer.
*
* Arguments  : p_tmr    Is a pointer to an OS_TMR
*
*              p_err    Is a pointer to an error code.  '*p_err' will contain one of the following:
*
*                           OS_ERR_NONE
*                           OS_ERR_OBJ_TYPE            if 'p_tmr' is not pointing to a timer
*                           OS_ERR_TMR_INVALID
*                           OS_ERR_TMR_INACTIVE        if the timer was not created
*                           OS_ERR_TMR_INVALID_STATE   the timer is in an invalid state
*                           OS_ERR_TMR_ISR             if the call was made from an ISR
*
* Returns    : DEF_TRUE      is the timer was started
*              DEF_FALSE     if not or upon an error
*
* Note(s)    : 1) When starting/restarting a timer, regardless if it is in PERIODIC or ONE-SHOT mode, the timer is
*                 linked to the timer wheel with the OS_OPT_LINK_DLY option. This option sets the initial expiration
*                 time for the timer. For timers in PERIODIC mode, subsequent expiration times are handled by
*                 the OS_TmrTask().
************************************************************************************************************************
*/

CPU_BOOLEAN  OSTmrStart ( OS_TMR  *p_tmr,
                          OS_ERR  *p_err )
{
    OS_ERR       err;
    CPU_BOOLEAN  success;



#ifdef OS_SAFETY_CRITICAL
    if ( p_err == ( OS_ERR * ) 0 )
    {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return ( DEF_FALSE );
    }
#endif

#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
    if ( OSIntNestingCtr > ( OS_NESTING_CTR ) 0 )           /* See if trying to call from an ISR                      */
    {
        *p_err = OS_ERR_TMR_ISR;
        return ( DEF_FALSE );
    }
#endif

#if OS_CFG_ARG_CHK_EN > 0u
    if ( p_tmr == ( OS_TMR * ) 0 )
    {
        *p_err = OS_ERR_TMR_INVALID;
        return ( DEF_FALSE );
    }
#endif

#if OS_CFG_OBJ_TYPE_CHK_EN > 0u
    if ( p_tmr->Type != OS_OBJ_TYPE_TMR )                   /* Make sure timer was created                            */
    {
        *p_err = OS_ERR_OBJ_TYPE;
        return ( DEF_FALSE );
    }
#endif

    OSSchedLock ( &err );
    switch ( p_tmr->State )
    {
    case OS_TMR_STATE_RUNNING:                          /* Restart the timer                                      */
        OS_TmrUnlink ( p_tmr );                        /* ... Stop the timer                                     */
        OS_TmrLink ( p_tmr, OS_OPT_LINK_DLY );         /* ... Link timer to timer wheel (see Note #1).           */
        OSSchedUnlock ( &err );
        *p_err   = OS_ERR_NONE;
        success = DEF_TRUE;
        break;

    case OS_TMR_STATE_STOPPED:                          /* Start the timer                                        */
    case OS_TMR_STATE_COMPLETED:
        OS_TmrLink ( p_tmr, OS_OPT_LINK_DLY );         /* ... Link timer to timer wheel (see Note #1).           */
        OSSchedUnlock ( &err );
        *p_err   = OS_ERR_NONE;
        success = DEF_TRUE;
        break;

    case OS_TMR_STATE_UNUSED:                           /* Timer not created                                      */
        OSSchedUnlock ( &err );
        *p_err   = OS_ERR_TMR_INACTIVE;
        success = DEF_FALSE;
        break;

    default:
        OSSchedUnlock ( &err );
        *p_err = OS_ERR_TMR_INVALID_STATE;
        success = DEF_FALSE;
        break;
    }
    return ( success );
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                           FIND OUT WHAT STATE A TIMER IS IN
*
* Description: This function is called to determine what state the timer is in:
*
*                  OS_TMR_STATE_UNUSED     the timer has not been created
*                  OS_TMR_STATE_STOPPED    the timer has been created but has not been started or has been stopped
*                  OS_TMR_COMPLETED        the timer is in ONE-SHOT mode and has completed it's timeout
*                  OS_TMR_RUNNING          the timer is currently running
*
* Arguments  : p_tmr    Is a pointer to the desired timer
*
*              p_err    Is a pointer to an error code.  '*p_err' will contain one of the following:
*
*                           OS_ERR_NONE
*                           OS_ERR_OBJ_TYPE            if 'p_tmr' is not pointing to a timer
*                           OS_ERR_TMR_INVALID        'p_tmr' is a NULL pointer
*                           OS_ERR_TMR_INVALID_STATE  if the timer is not in a valid state
*                           OS_ERR_TMR_ISR            if the call was made from an ISR
*
* Returns    : The current state of the timer (see description).
************************************************************************************************************************
*/

OS_STATE  OSTmrStateGet ( OS_TMR  *p_tmr,
                          OS_ERR  *p_err )
{
    OS_STATE  state;
    CPU_SR_ALLOC();



#ifdef OS_SAFETY_CRITICAL
    if ( p_err == ( OS_ERR * ) 0 )
    {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return ( OS_TMR_STATE_UNUSED );
    }
#endif

#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
    if ( OSIntNestingCtr > ( OS_NESTING_CTR ) 0 )           /* See if trying to call from an ISR                      */
    {
        *p_err = OS_ERR_TMR_ISR;
        return ( OS_TMR_STATE_UNUSED );
    }
#endif

#if OS_CFG_ARG_CHK_EN > 0u
    if ( p_tmr == ( OS_TMR * ) 0 )
    {
        *p_err = OS_ERR_TMR_INVALID;
        return ( OS_TMR_STATE_UNUSED );
    }
#endif

#if OS_CFG_OBJ_TYPE_CHK_EN > 0u
    if ( p_tmr->Type != OS_OBJ_TYPE_TMR )                   /* Make sure timer was created                            */
    {
        *p_err = OS_ERR_OBJ_TYPE;
        return ( OS_TMR_STATE_UNUSED );
    }
#endif

    CPU_CRITICAL_ENTER();
    state = p_tmr->State;
    switch ( state )
    {
    case OS_TMR_STATE_UNUSED:
    case OS_TMR_STATE_STOPPED:
    case OS_TMR_STATE_COMPLETED:
    case OS_TMR_STATE_RUNNING:
        *p_err = OS_ERR_NONE;
        break;

    default:
        *p_err = OS_ERR_TMR_INVALID_STATE;
        break;
    }
    CPU_CRITICAL_EXIT();
    return ( state );
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                                    STOP A TIMER
*
* Description: This function is called by your application code to stop a timer.
*
* Arguments  : p_tmr          Is a pointer to the timer to stop.
*
*              opt           Allows you to specify an option to this functions which can be:
*
*                               OS_OPT_TMR_NONE            Do nothing special but stop the timer
*                               OS_OPT_TMR_CALLBACK        Execute the callback function, pass it the callback argument
*                                                          specified when the timer was created.
*                               OS_OPT_TMR_CALLBACK_ARG    Execute the callback function, pass it the callback argument
*                                                          specified in THIS function call
*
*              callback_arg  Is a pointer to a 'new' callback argument that can be passed to the callback function
*                               instead of the timer's callback argument.  In other words, use 'callback_arg' passed in
*                               THIS function INSTEAD of p_tmr->OSTmrCallbackArg
*
*              p_err          Is a pointer to an error code.  '*p_err' will contain one of the following:
*                               OS_ERR_NONE
*                               OS_ERR_OBJ_TYPE            if 'p_tmr' is not pointing to a timer
*                               OS_ERR_OPT_INVALID         if you specified an invalid option for 'opt'
*                               OS_ERR_TMR_INACTIVE        if the timer was not created
*                               OS_ERR_TMR_INVALID         'p_tmr' is a NULL pointer
*                               OS_ERR_TMR_INVALID_STATE   the timer is in an invalid state
*                               OS_ERR_TMR_ISR             if the function was called from an ISR
*                               OS_ERR_TMR_NO_CALLBACK     if the timer does not have a callback function defined
*                               OS_ERR_TMR_STOPPED         if the timer was already stopped
*
* Returns    : DEF_TRUE       If we stopped the timer (if the timer is already stopped, we also return DEF_TRUE)
*              DEF_FALSE      If not
************************************************************************************************************************
*/

CPU_BOOLEAN  OSTmrStop ( OS_TMR  *p_tmr,
                         OS_OPT   opt,
                         void    *p_callback_arg,
                         OS_ERR  *p_err )
{
    OS_TMR_CALLBACK_PTR  p_fnct;
    OS_ERR               err;
    CPU_BOOLEAN          success;



#ifdef OS_SAFETY_CRITICAL
    if ( p_err == ( OS_ERR * ) 0 )
    {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return ( DEF_FALSE );
    }
#endif

#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
    if ( OSIntNestingCtr > ( OS_NESTING_CTR ) 0 )                     /* See if trying to call from an ISR            */
    {
        *p_err = OS_ERR_TMR_ISR;
        return ( DEF_FALSE );
    }
#endif

#if OS_CFG_ARG_CHK_EN > 0u
    if ( p_tmr == ( OS_TMR * ) 0 )
    {
        *p_err = OS_ERR_TMR_INVALID;
        return ( DEF_FALSE );
    }
#endif

#if OS_CFG_OBJ_TYPE_CHK_EN > 0u
    if ( p_tmr->Type != OS_OBJ_TYPE_TMR )                             /* Make sure timer was created                  */
    {
        *p_err = OS_ERR_OBJ_TYPE;
        return ( DEF_FALSE );
    }
#endif

    OSSchedLock ( &err );
    switch ( p_tmr->State )
    {
    case OS_TMR_STATE_RUNNING:
        OS_TmrUnlink ( p_tmr );                                  /* Remove from current wheel spoke              */
        *p_err = OS_ERR_NONE;
        switch ( opt )
        {
        case OS_OPT_TMR_CALLBACK:
            p_fnct = p_tmr->CallbackPtr;                         /* Execute callback function ...           */
            if ( p_fnct != ( OS_TMR_CALLBACK_PTR ) 0 )           /* ... if available                        */
            {
                ( *p_fnct ) ( ( void * ) p_tmr, p_tmr->CallbackPtrArg ); /* Use callback arg when timer was created */
            }
            else
            {
                *p_err = OS_ERR_TMR_NO_CALLBACK;
            }
            break;

        case OS_OPT_TMR_CALLBACK_ARG:
            p_fnct = p_tmr->CallbackPtr;                    /* Execute callback function if available ...   */
            if ( p_fnct != ( OS_TMR_CALLBACK_PTR ) 0 )
            {
                ( *p_fnct ) ( ( void * ) p_tmr, p_callback_arg ); /* .. using the 'callback_arg' provided in call */
            }
            else
            {
                *p_err = OS_ERR_TMR_NO_CALLBACK;
            }
            break;

        case OS_OPT_TMR_NONE:
            break;

        default:
            OSSchedUnlock ( &err );
            *p_err = OS_ERR_OPT_INVALID;
            return ( DEF_FALSE );
        }
        OSSchedUnlock ( &err );
        success = DEF_TRUE;
        break;

    case OS_TMR_STATE_COMPLETED:                                  /* Timer has already completed the ONE-SHOT or  */
    case OS_TMR_STATE_STOPPED:                                    /* ... timer has not started yet.               */
        OSSchedUnlock ( &err );
        *p_err   = OS_ERR_TMR_STOPPED;
        success = DEF_TRUE;
        break;

    case OS_TMR_STATE_UNUSED:                                     /* Timer was not created                        */
        OSSchedUnlock ( &err );
        *p_err   = OS_ERR_TMR_INACTIVE;
        success = DEF_FALSE;
        break;

    default:
        OSSchedUnlock ( &err );
        *p_err   = OS_ERR_TMR_INVALID_STATE;
        success = DEF_FALSE;
        break;
    }
    return ( success );
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                                 CLEAR TIMER FIELDS
*
* Description: This function is called to clear all timer fields.
*
* Argument(s): p_tmr    is a pointer to the timer to clear
*              -----
*
* Returns    : none
*
* Note(s)    : 1) This function is INTERNAL to uC/OS-III and your application MUST NOT call it.
************************************************************************************************************************
*/

void  OS_TmrClr ( OS_TMR  *p_tmr )
{
    p_tmr->State          = OS_TMR_STATE_UNUSED;            /* Clear timer fields                                     */
    p_tmr->Type           = OS_OBJ_TYPE_NONE;
    p_tmr->NamePtr        = ( CPU_CHAR          * ) ( ( void * ) "?TMR" );
    p_tmr->Dly            = ( OS_TICK            ) 0;
    p_tmr->Match          = ( OS_TICK            ) 0;
    p_tmr->Remain         = ( OS_TICK            ) 0;
    p_tmr->Period         = ( OS_TICK            ) 0;
    p_tmr->Opt            = ( OS_OPT             ) 0;
    p_tmr->CallbackPtr    = ( OS_TMR_CALLBACK_PTR ) 0;
    p_tmr->CallbackPtrArg = ( void              * ) 0;
    p_tmr->NextPtr        = ( OS_TMR            * ) 0;
    p_tmr->PrevPtr        = ( OS_TMR            * ) 0;
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                         ADD/REMOVE TIMER TO/FROM DEBUG TABLE
*
* Description: These functions are called by uC/OS-III to add or remove a timer to/from a timer debug table.
*
* Arguments  : p_tmr     is a pointer to the timer to add/remove
*
* Returns    : none
*
* Note(s)    : These functions are INTERNAL to uC/OS-III and your application should not call it.
************************************************************************************************************************
*/


#if OS_CFG_DBG_EN > 0u
void  OS_TmrDbgListAdd ( OS_TMR  *p_tmr )
{
    p_tmr->DbgPrevPtr               = ( OS_TMR * ) 0;
    if ( OSTmrDbgListPtr == ( OS_TMR * ) 0 )
    {
        p_tmr->DbgNextPtr           = ( OS_TMR * ) 0;
    }
    else
    {
        p_tmr->DbgNextPtr           =  OSTmrDbgListPtr;
        OSTmrDbgListPtr->DbgPrevPtr =  p_tmr;
    }
    OSTmrDbgListPtr                 =  p_tmr;
}



void  OS_TmrDbgListRemove ( OS_TMR  *p_tmr )
{
    OS_TMR  *p_tmr_next;
    OS_TMR  *p_tmr_prev;


    p_tmr_prev = p_tmr->DbgPrevPtr;
    p_tmr_next = p_tmr->DbgNextPtr;

    if ( p_tmr_prev == ( OS_TMR * ) 0 )
    {
        OSTmrDbgListPtr = p_tmr_next;
        if ( p_tmr_next != ( OS_TMR * ) 0 )
        {
            p_tmr_next->DbgPrevPtr = ( OS_TMR * ) 0;
        }
        p_tmr->DbgNextPtr = ( OS_TMR * ) 0;

    }
    else if ( p_tmr_next == ( OS_TMR * ) 0 )
    {
        p_tmr_prev->DbgNextPtr = ( OS_TMR * ) 0;
        p_tmr->DbgPrevPtr      = ( OS_TMR * ) 0;

    }
    else
    {
        p_tmr_prev->DbgNextPtr =  p_tmr_next;
        p_tmr_next->DbgPrevPtr =  p_tmr_prev;
        p_tmr->DbgNextPtr      = ( OS_TMR * ) 0;
        p_tmr->DbgPrevPtr      = ( OS_TMR * ) 0;
    }
}
#endif

/*$PAGE*/
/*
************************************************************************************************************************
*                                             INITIALIZE THE TIMER MANAGER
*
* Description: This function is called by OSInit() to initialize the timer manager module.
*
* Argument(s): p_err    is a pointer to a variable that will contain an error code returned by this function.
*
*                           OS_ERR_NONE
*                           OS_ERR_TMR_STK_INVALID       if you didn't specify a stack for the timer task
*                           OS_ERR_TMR_STK_SIZE_INVALID  if you didn't allocate enough space for the timer stack
*                           OS_ERR_PRIO_INVALID          if you specified the same priority as the idle task
*                           OS_ERR_xxx                   any error code returned by OSTaskCreate()
*
* Returns    : none
*
* Note(s)    : 1) This function is INTERNAL to uC/OS-III and your application MUST NOT call it.
************************************************************************************************************************
*/

void  OS_TmrInit ( OS_ERR  *p_err )
{
    OS_TMR_SPOKE_IX   i;
    OS_TMR_SPOKE     *p_spoke;



#ifdef OS_SAFETY_CRITICAL
    if ( p_err == ( OS_ERR * ) 0 )
    {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return;
    }
#endif

#if OS_CFG_DBG_EN > 0u
    OSTmrDbgListPtr = ( OS_TMR * ) 0;
#endif

    if ( OSCfg_TmrTaskRate_Hz > ( OS_RATE_HZ ) 0 )
    {
        OSTmrUpdateCnt = OSCfg_TickRate_Hz / OSCfg_TmrTaskRate_Hz;
    }
    else
    {
        OSTmrUpdateCnt = OSCfg_TickRate_Hz / ( OS_RATE_HZ ) 10;
    }
    OSTmrUpdateCtr   = OSTmrUpdateCnt;

    OSTmrTickCtr     = ( OS_TICK ) 0;

    OSTmrTaskTimeMax = ( CPU_TS ) 0;

    for ( i = 0u; i < OSCfg_TmrWheelSize; i++ )
    {
        p_spoke                = &OSCfg_TmrWheel[i];
        p_spoke->NbrEntries    = ( OS_OBJ_QTY ) 0;
        p_spoke->NbrEntriesMax = ( OS_OBJ_QTY ) 0;
        p_spoke->FirstPtr      = ( OS_TMR   * ) 0;
    }

    /* ---------------- CREATE THE TIMER TASK --------------- */
    if ( OSCfg_TmrTaskStkBasePtr == ( CPU_STK* ) 0 )
    {
        *p_err = OS_ERR_TMR_STK_INVALID;
        return;
    }

    if ( OSCfg_TmrTaskStkSize < OSCfg_StkSizeMin )
    {
        *p_err = OS_ERR_TMR_STK_SIZE_INVALID;
        return;
    }

    if ( OSCfg_TmrTaskPrio >= ( OS_CFG_PRIO_MAX - 1u ) )
    {
        *p_err = OS_ERR_TMR_PRIO_INVALID;
        return;
    }

    OSTaskCreate ( ( OS_TCB     * ) &OSTmrTaskTCB,
                   ( CPU_CHAR   * ) ( ( void * ) "uC/OS-III Timer Task" ),
                   ( OS_TASK_PTR ) OS_TmrTask,
                   ( void       * ) 0,
                   ( OS_PRIO     ) OSCfg_TmrTaskPrio,
                   ( CPU_STK    * ) OSCfg_TmrTaskStkBasePtr,
                   ( CPU_STK_SIZE ) OSCfg_TmrTaskStkLimit,
                   ( CPU_STK_SIZE ) OSCfg_TmrTaskStkSize,
                   ( OS_MSG_QTY  ) 0,
                   ( OS_TICK     ) 0,
                   ( void       * ) 0,
                   ( OS_OPT      ) ( OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR | OS_OPT_TASK_NO_TLS ),
                   ( OS_ERR     * ) p_err );
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                         INSERT A TIMER INTO THE TIMER WHEEL
*
* Description: This function is called to insert the timer into the timer wheel.  The timer is always inserted at the
*              beginning of the list.
*
* Arguments  : p_tmr          Is a pointer to the timer to insert.
*              -----
*
*              opt            Is either:
*
*                               OS_OPT_LINK_PERIODIC    Means to re-insert the timer after a period expired
*                               OS_OPT_LINK_DLY         Means to insert    the timer the first time
*
* Returns    : none
*
* Note(s)    : 1) This function is INTERNAL to uC/OS-III and your application MUST NOT call it.
************************************************************************************************************************
*/

void  OS_TmrLink ( OS_TMR  *p_tmr,
                   OS_OPT   opt )
{
    OS_TMR_SPOKE     *p_spoke;
    OS_TMR           *p_tmr0;
    OS_TMR           *p_tmr1;
    OS_TMR_SPOKE_IX   spoke;



    p_tmr->State = OS_TMR_STATE_RUNNING;
    if ( opt == OS_OPT_LINK_PERIODIC )                      /* Determine when timer will expire                      */
    {
        p_tmr->Match = p_tmr->Period + OSTmrTickCtr;
    }
    else
    {
        if ( p_tmr->Dly == ( OS_TICK ) 0 )
        {
            p_tmr->Match = p_tmr->Period + OSTmrTickCtr;
        }
        else
        {
            p_tmr->Match = p_tmr->Dly    + OSTmrTickCtr;
        }
    }
    spoke  = ( OS_TMR_SPOKE_IX ) ( p_tmr->Match % OSCfg_TmrWheelSize );
    p_spoke = &OSCfg_TmrWheel[spoke];

    if ( p_spoke->FirstPtr ==  ( OS_TMR * ) 0 )             /* Link into timer wheel                                  */
    {
        p_tmr->NextPtr      = ( OS_TMR * ) 0;
        p_tmr->PrevPtr      = ( OS_TMR * ) 0;
        p_spoke->FirstPtr   = p_tmr;
        p_spoke->NbrEntries = 1u;
    }
    else
    {
        p_tmr->Remain  = p_tmr->Match                       /* Compute remaining time for timer                       */
                         - OSTmrTickCtr;
        p_tmr1         = p_spoke->FirstPtr;                 /* Point to current first timer in the list               */
        while ( p_tmr1 != ( OS_TMR * ) 0 )
        {
            p_tmr1->Remain = p_tmr1->Match                  /* Compute time remaining of current timer in list        */
                             - OSTmrTickCtr;
            if ( p_tmr->Remain > p_tmr1->Remain )           /* Do we need to insert AFTER current timer in list?      */
            {
                if ( p_tmr1->NextPtr  != ( OS_TMR * ) 0 )   /* Yes, are we pointing at the last timer in the list?    */
                {
                    p_tmr1            = p_tmr1->NextPtr;    /* No,  Point to next timer in the list                   */
                }
                else
                {
                    p_tmr->NextPtr    = ( OS_TMR * ) 0;
                    p_tmr->PrevPtr    =  p_tmr1;
                    p_tmr1->NextPtr   =  p_tmr;             /* Yes, timer to insert is now new last entry in the list */
                    p_tmr1            = ( OS_TMR * ) 0;     /* Break loop                                             */
                }
            }
            else                                            /* Insert before the current timer                        */
            {
                if ( p_tmr1->PrevPtr == ( OS_TMR * ) 0 )    /* Are we inserting before the first timer?               */
                {
                    p_tmr->PrevPtr    = ( OS_TMR * ) 0;
                    p_tmr->NextPtr    = p_tmr1;
                    p_tmr1->PrevPtr   = p_tmr;
                    p_spoke->FirstPtr = p_tmr;
                }
                else                                        /* Insert in between 2 timers already in the list         */
                {
                    p_tmr0            = p_tmr1->PrevPtr;
                    p_tmr->PrevPtr    = p_tmr0;
                    p_tmr->NextPtr    = p_tmr1;
                    p_tmr0->NextPtr   = p_tmr;
                    p_tmr1->PrevPtr   = p_tmr;
                }
                p_tmr1 = ( OS_TMR * ) 0;                    /* Break loop                                             */
            }
        }
        p_spoke->NbrEntries++;
    }
    if ( p_spoke->NbrEntriesMax < p_spoke->NbrEntries )     /* Keep track of maximum number of entries in each spoke  */
    {
        p_spoke->NbrEntriesMax = p_spoke->NbrEntries;
    }
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                              RESET TIMER LIST PEAK DETECTOR
*
* Description: This function is used to reset the peak detector for the number of entries in each spoke.
*
* Arguments  : void
*
* Returns    : none
*
* Note(s)    : This function is INTERNAL to uC/OS-III and your application should not call it.
************************************************************************************************************************
*/

void  OS_TmrResetPeak ( void )
{
    OS_TMR_SPOKE     *p_spoke;
    OS_TMR_SPOKE_IX   i;



    for ( i = 0u; i < OSCfg_TmrWheelSize; i++ )
    {
        p_spoke                = ( OS_TMR_SPOKE * ) &OSCfg_TmrWheel[i];
        p_spoke->NbrEntriesMax = ( OS_OBJ_QTY    ) 0u;
    }
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                         REMOVE A TIMER FROM THE TIMER WHEEL
*
* Description: This function is called to remove the timer from the timer wheel.
*
* Arguments  : p_tmr          Is a pointer to the timer to remove.
*              -----
*
* Returns    : none
*
* Note(s)    : 1) This function is INTERNAL to uC/OS-III and your application MUST NOT call it.
************************************************************************************************************************
*/

void  OS_TmrUnlink ( OS_TMR  *p_tmr )
{
    OS_TMR_SPOKE    *p_spoke;
    OS_TMR          *p_tmr1;
    OS_TMR          *p_tmr2;
    OS_TMR_SPOKE_IX  spoke;



    spoke   = ( OS_TMR_SPOKE_IX ) ( p_tmr->Match % OSCfg_TmrWheelSize );
    p_spoke = &OSCfg_TmrWheel[spoke];

    if ( p_spoke->FirstPtr == p_tmr )                       /* See if timer to remove is at the beginning of list     */
    {
        p_tmr1            = ( OS_TMR * ) p_tmr->NextPtr;
        p_spoke->FirstPtr = ( OS_TMR * ) p_tmr1;
        if ( p_tmr1 != ( OS_TMR * ) 0 )
        {
            p_tmr1->PrevPtr = ( OS_TMR * ) 0;
        }
    }
    else
    {
        p_tmr1          = ( OS_TMR * ) p_tmr->PrevPtr;      /* Remove timer from somewhere in the list                */
        p_tmr2          = ( OS_TMR * ) p_tmr->NextPtr;
        p_tmr1->NextPtr = p_tmr2;
        if ( p_tmr2 != ( OS_TMR * ) 0 )
        {
            p_tmr2->PrevPtr = ( OS_TMR * ) p_tmr1;
        }
    }
    p_tmr->State   = OS_TMR_STATE_STOPPED;
    p_tmr->NextPtr = ( OS_TMR * ) 0;
    p_tmr->PrevPtr = ( OS_TMR * ) 0;
    p_spoke->NbrEntries--;
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                                 TIMER MANAGEMENT TASK
*
* Description: This task is created by OS_TmrInit().
*
* Arguments  : none
*
* Returns    : none
*
* Note(s)    : 1) This function is INTERNAL to uC/OS-III and your application MUST NOT call it.
************************************************************************************************************************
*/

void  OS_TmrTask ( void  *p_arg )
{
    CPU_BOOLEAN          done;
    OS_ERR               err;
    OS_TMR_CALLBACK_PTR  p_fnct;
    OS_TMR_SPOKE        *p_spoke;
    OS_TMR              *p_tmr;
    OS_TMR              *p_tmr_next;
    OS_TMR_SPOKE_IX      spoke;
    CPU_TS               ts;
    CPU_TS               ts_start;
    CPU_TS               ts_end;



    p_arg = p_arg;                                               /* Not using 'p_arg', prevent compiler warning       */
    while ( DEF_ON )
    {
        ( void ) OSTaskSemPend ( ( OS_TICK ) 0,                  /* Wait for signal indicating time to update tmrs    */
                                 ( OS_OPT  ) OS_OPT_PEND_BLOCKING,
                                 ( CPU_TS * ) &ts,
                                 ( OS_ERR * ) &err );

        OSSchedLock ( &err );
        ts_start = OS_TS_GET();
        OSTmrTickCtr++;                                          /* Increment the current time                        */
        spoke    = ( OS_TMR_SPOKE_IX ) ( OSTmrTickCtr % OSCfg_TmrWheelSize );
        p_spoke  = &OSCfg_TmrWheel[spoke];
        p_tmr    = p_spoke->FirstPtr;
        done     = DEF_FALSE;
        while ( done == DEF_FALSE )
        {
            if ( p_tmr != ( OS_TMR * ) 0 )
            {
                p_tmr_next = ( OS_TMR * ) p_tmr->NextPtr;        /* Point to next tmr to update because current ...   */
                /* ... timer could get unlinked from the wheel.      */
                if ( OSTmrTickCtr == p_tmr->Match )              /* Process each timer that expires                   */
                {
                    OS_TmrUnlink ( p_tmr );                      /* Remove from current wheel spoke                   */
                    if ( p_tmr->Opt == OS_OPT_TMR_PERIODIC )
                    {
                        OS_TmrLink ( p_tmr,
                                     OS_OPT_LINK_PERIODIC );       /* Recalculate new position of timer in wheel        */
                    }
                    else
                    {
                        p_tmr->State = OS_TMR_STATE_COMPLETED;   /* Indicate that the timer has completed             */
                    }
                    p_fnct = p_tmr->CallbackPtr;                 /* Execute callback function if available            */
                    if ( p_fnct != ( OS_TMR_CALLBACK_PTR ) 0 )
                    {
                        ( *p_fnct ) ( ( void * ) p_tmr,
                                      p_tmr->CallbackPtrArg );
                    }
                    p_tmr = p_tmr_next;                          /* See if next timer matches                         */
                }
                else
                {
                    done  = DEF_TRUE;
                }
            }
            else
            {
                done = DEF_TRUE;
            }
        }
        ts_end = OS_TS_GET() - ts_start;                         /* Measure execution time of timer task              */
        OSSchedUnlock ( &err );
        if ( OSTmrTaskTimeMax < ts_end )
        {
            OSTmrTaskTimeMax = ts_end;
        }
    }
}

#endif
